Improve audience mismatch debugging

[ddl-rliu]

Tracking issue

Improved flyte error messages #3502

Why are the changes needed?

When there is an audience mismatch during the verifyClaims step in the authzserver, the error message details the provided audience, but not the expected audience.

What changes were proposed in this pull request?

Include the expected audience(s) in the error message. This will greatly improve ease of debugging.

How was this patch tested?

Old message:

{"json":{"src":"handlers.go:303"},"level":"info","msg":"Failed to parse Access Token from context. 
Will attempt to find IDToken. Error: invalid audience [&{[account] ... 2024-03-22 17:08:22 +0000 
UTC 2024-03-22 16:53:22 +0000 UTC 0001-01-01 00:00:00 +0000 UTC ...}]","ts":"2024-03-22T16:53:52Z"}

New message:

{"json":{"src":"handlers.go:303"},"level":"info","msg":"Failed to parse Access Token from context. 
Will attempt to find IDToken. Error: invalid audience [&{[account] ... 2024-03-22 17:08:22 +0000 
UTC 2024-03-22 16:53:22 +0000 UTC 0001-01-01 00:00:00 +0000 UTC ...}], wanted ["some-audience"]",
"ts":"2024-03-22T16:53:52Z"}

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 59.81%. Comparing base (eb24107) to head (7556640).
Report is 9 commits behind head on master.

❗ Current head 7556640 differs from pull request most recent head e6abf49. Consider uploading reports for the commit e6abf49 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #5078      +/-   ##
==========================================
+ Coverage   58.98%   59.81%   +0.82%     
==========================================
  Files         645      463     -182     
  Lines       55590    37643   -17947     
==========================================
- Hits        32791    22515   -10276     
+ Misses      20204    13437    -6767     
+ Partials     2595     1691     -904     

Flag	Coverage Δ
unittests	59.81% <ø> (+0.82%)	⬆️

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